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acrobot

With a 9-DoF IMU (inertial measurement sensor), M2 microcontroller, motors and wheels, I made a self-contained balancing robot that only touch the ground through two coaxially-mounted wheels.

fast_icp

Interactive Closest Point for 3D reconstruction, support normal space sampling, closest point matching, point2point/point2plane error minimization

gmm_color_object_detection

a hybrid Gaussian Mixture Model for color segmentation, and connected component analysis for object detection

hmm_gesture_recognition

a left-to-right Hidden Markov Model for cellphone gesture recognition, using IMU data

hockey_robot

From mechanical design, circuit design to programming, my team constructed 3 fully autonomous robots to play hockey in Penn robockey cup 2016.

orchestra

I designed and constructed a battery-powered, GF1004 speaker-based instrument capable of playing a tone commanded by wireless signal.

particle_filter_slam

SLAM with occupancy grid and particle filter, using lidar, joints, IMU and odometry data from THOR humanoid robot

pix2pix_refocus

reinforcement_learning

resnet_food_recognition

This project implements ResNet50 in keras and applies transfer learning from Imagenet to recognize food. It achieves 77.25% Top1 and 92.90% Top5 testing accuracy after 9 training epochs which takes only 5 hour.

structure_from_motion

Structure from Motion Pipeline to estimate camera motion and reconstruct 3D objects

test_openmvg-mvs

tracking_by_colorizing

https://arxiv.org/abs/1806.09594

ukf_orientation_estimation

a quaternion-based Unscented Kalman Filter on IMU to estimate quadrotor orientation. With estimates and camera data, a sphere panorama is generated by image stitching

vision_learning

Deep Learning for Computer Vision

visual_odometry

visual odometry on KITTI dataset, Monocular 2D-2D and Stereo 2D-3D implemented